Terrain-adaptive Central Pattern Generators with Reinforcement Learning for Hexapod Locomotion.
Qiyue YangYue GaoShaoyuan LiPublished in: CoRR (2023)
Keyphrases
- legged robots
- reinforcement learning
- rough terrain
- pattern matching
- function approximation
- quadruped robot
- mobile robot
- real robot
- state space
- optimal control
- learning capabilities
- inverted pendulum
- dynamic programming
- learning problems
- three dimensional
- legged locomotion
- learning algorithm
- simulation study
- machine learning
- adaptive control
- actor critic
- multi agent